Related papers: Left-invariant optimal control problems on Lie gro…
The problem of finding optimal curves (the longest arcs) for sub-Lorentzian structures is an optimal control problem with an unbounded control set and a concave cost functional. The question of existence of an optimal solution is nontrivial…
The purpose of this paper is to use the framework of Lie algebroids to study optimal control problems for affine connection control systems on Lie groups. In this context, the equations for critical trajectories of the problem are…
We extend Lie's classical method for finding group invariant solutions to the case of non-transverse group actions. For this extension of Lie's method we identify a local obstruction to the principle of symmetric criticality. Two examples…
Variational inequalities are an important mathematical tool for modelling free boundary problems that arise in different application areas. Due to the intricate nonsmooth structure of the resulting models, their analysis and optimization is…
The aim of this work is to study, from an intrinsic and geometric point of view, second-order constrained variational problems on Lie algebroids, that is, optimization problems defined by a cost functional which depends on higher-order…
We study in optimal control the important relation between invariance of the problem under a family of transformations, and the existence of preserved quantities along the Pontryagin extremals. Several extensions of Noether theorem are…
We are interested in the classification of left-invariant symplectic structures on Lie groups. Some classifications are known, especially in low dimensions. In this paper we establish a new approach to classify (up to automorphism and…
A result from Gromov ensures the existence of a contact structure on any connected non-compact odd dimensional Lie group. But in general such structures are not invariant under left translations of the Lie group. The problem of finding…
This paper examines the geometry of left-invariant vector fields on five-dimensional, simply connected, nilpotent Lie groups equipped with left-invariant Riemannian metrics. Using the canonical identification between the Lie algebra and the…
In this chapter, we are concerned with inverse optimal control problems, i.e., optimization models which are used to identify parameters in optimal control problems from given measurements. Here, we focus on linear-quadratic optimal control…
Necessary conditions for existence of normal extremals in optimal control of systems subject to nonholonomic constraints are derived as solutions of a constrained second order variational problems. In this work, a geometric interpretation…
We introduce variational obstacle avoidance problems on Riemannian manifolds and derive necessary conditions for the existence of their normal extremals. The problem consists of minimizing an energy functional depending on the velocity and…
The Linearization Theorem for proper Lie groupoids organizes and generalizes several results for classic geometries. Despite the various approaches and recent works on the subject, the problem of understanding invariant linearization…
In this paper, we extend the popular integral control technique to systems evolving on Lie groups. More explicitly, we provide an alternative definition of "integral action" for proportional(-derivative)-controlled systems whose…
The left-invariant sub-Riemannian problem on the Engel group is considered. This problem is very important as nilpotent approximation of nonholonomic systems in four-dimensional space with two-dimensional control, for instance of a system…
We study a trajectory-planning problem whose solution path evolves by means of a Lie group action and passes near a designated set of target positions at particular times. This is a higher-order variational problem in optimal control,…
In this paper we study optimal control problems for nonholonomic systems defined on Lie algebroids by using quasi-velocities. We consider both kinematic, i.e. systems whose cost functional depends only on position and velocities, and…
The paper presents the geometry of Lie algebroids and its applications to optimal control. The first part deals with the theory of Lie algebroids, connections on Lie algebroids and dynamical systems defined on Lie algebroids (mainly…
Three left-invariant Lorentzian problems on the Heisenberg group are considered. The Pontryagin maximum principle was applied to both problems and a parameterization of abnormal and normal extremal trajectories was obtained. Reachability…
In this paper, we use the derivative of the exponential map to derive the exact evolution of the logarithm of the tracking error for mixed-invariant systems, a class of systems capable of describing rigid body tracking problems in Lie…